A Discrete Geometric Optimal Control Framework for Systems with Symmetries.

in Journal Article

Kobilarov, Marin; Desbrun, Mathieu; Marsden, Jerrold E.; Sukhatme, Gaurav S.: A Discrete Geometric Optimal Control Framework for Systems with Symmetries. Burgard, Wolfram; Brock, Oliver; Stachniss, Cyrill (Ed.): Robotics: Science and Systems III, June 27-30, 2007, Georgia Institute of Technology, Atlanta, Georgia, USA, The MIT Press, 2007